<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<Mechanism xmlns="http://www.dmg-lib.org/mechanism" dmglib_MecID="0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.dmg-lib.org/mechanism http://dmg-lib.org/dmglib/schemas/mechanism.xsd">

  <Shapes xmlns="http://www.dmg-lib.org/shapes">
    <Shape id="SwivelJoint.2D.fixed" scale="0.02">
      <Line id="SwivelJoint.2D.fixed..line1" x1="-0.75" x2="-1.75" y1="-0.75" y2="-3"/>
      <Line id="SwivelJoint.2D.fixed..line2" x1="0.75" x2="1.75" y1="-0.75" y2="-3"/>
      <Line id="SwivelJoint.2D.fixed..line3" x1="-2.5" x2="2.5" y1="-3" y2="-3"/>
      <Line id="SwivelJoint.2D.fixed..line4" x1="-2.25" x2="-0.75" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line5" x1="-1.125" x2="0.375" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line6" x1="0" x2="1.5" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line7" x1="1.125" x2="2.625" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line8" x1="2.25" x2="3.75" y1="-3" y2="-4.25"/>
      <Circle cx="0" cy="0" filled="false" id="SwivelJoint.2D.fixed..circle" radius="1"/>
    </Shape>
    <Shape id="SwivelJoint.3D">
      <Cylinder height="0.1" id="SwivelJoint.3D..cyl" location="xy" origin="0,0,-0.05" radius="0.0125"/>
    </Shape>
    <Shape id="SwivelJoint.2D.normal" scale="0.02">
      <Circle cx="0" cy="0" filled="false" id="SwivelJoint.2D.normal..circle" radius="1"/>
    </Shape>
    <Shape id="Bar.2D.normal">
      <Line id="Bar.2D.normal..line" x1="0" x2="1" y1="0" y2="0"/>
      
      <![CDATA[
      function transform(sx,sy)
      {
          line.x1 = line.x1 * sx;
          line.y1 = line.y1 * sy;
          line.x2 = line.x2 * sx;
          line.y2 = line.y2 * sy;
      }
]]>
    </Shape>
    <Shape id="Bar.3D">
      <Cylinder height="0.05" id="Bar.3D..cyl1" location="xy" origin="0,0,-0.025" radius="0.025"/>
      <Cylinder height="0.05" id="Bar.3D..cyl2" location="xy" origin="1,0,-0.025" radius="0.025"/>
      <Cylinder height="0.05" id="Bar.3D..cyl3" location="xy" origin="0,0,-0.025" radius="0.0125"/>
      <Cylinder height="0.05" id="Bar.3D..cyl4" location="xy" origin="1,0,-0.025" radius="0.0125"/>
      <Box height="0.05" id="Bar.3D..box" length="1" location="yz" origin="0,0,0" width="0.05"/>
      <Union geometry1="Bar.3D..box" geometry2="Bar.3D..cyl1" id="Bar.3D..union1"/>
      <Union geometry1="Bar.3D..union1" geometry2="Bar.3D..cyl2" id="Bar.3D..union2"/>
      <Difference geometry1="Bar.3D..union2" geometry2="Bar.3D..cyl3" id="Bar.3D..diff1"/>
      <Difference geometry1="Bar.3D..diff1" geometry2="Bar.3D..cyl4" id="Bar.3D..diff2"/>
      
      <![CDATA[
      function transform(sx,sy)
      {
          box.length = box.length * sx;
          cyl1.originx = cyl1.originx * sx;
          cyl2.originx = cyl2.originx * sx;
          cyl3.originx = cyl3.originx * sx;
          cyl4.originx = cyl4.originx * sx;
      }
]]>
    </Shape>
    <Shape id="SlidingJoint.2D.normal" scale="0.02">
      <Line id="SlidingJoint.2D.normal..line1" x1="-2.5" x2="2.5" y1="-1.25" y2="-1.25"/>
      <Line id="SlidingJoint.2D.normal..line2" x1="-2.5" x2="2.5" y1="1.25" y2="1.25"/>
      <Line id="SlidingJoint.2D.normal..line3" x1="-2.5" x2="-2.5" y1="1.25" y2="-1.25"/>
      <Line id="SlidingJoint.2D.normal..line4" x1="2.5" x2="2.5" y1="1.25" y2="-1.25"/>
      <Line id="SlidingJoint.2D.normal..line5" x1="-2.5" x2="2.5" y1="-1.25" y2="1.25"/>
      <Line id="SlidingJoint.2D.normal..line6" x1="-2.5" x2="2.5" y1="1.25" y2="-1.25"/>
    </Shape>
    <Shape id="RigidJoint.2D.normal" scale="0.02">
      <Rectangle cx="0" cy="0" filled="true" height="2" id="RigidJoint.2D.normal..rect" width="2"/>
    </Shape>
    <Shape id="Point.2D.normal" scale="0.019">
      <Circle cx="0" cy="0" filled="true" id="Point.2D.normal..circle" radius="1"/>
    </Shape>
  </Shapes>

  <ComponentSpaces xmlns="http://www.dmg-lib.org/componentspaces">
    <ComponentSpace id="cspace1" type="planar">
      <Positions>
        <Position id="pos1" x="-0.273494" y="-0.131307"/>
        <Position id="pos2" x="-0.259907" y="-0.265946"/>
        <Position id="pos3" x="0.101442" y="-0.201608"/>
        <Position id="pos4" x="0.303642" y="-0.17349"/>
        <Position id="pos5" x="-0.235146" y="0.259842"/>
        <Position id="pos6" x="0.405264" y="0.256007"/>
        <Position id="pos7" x="-0.0235656" y="0.258575"/>
        <Position id="pos8" x="-0.0235656" y="0.258575"/>
        <Position id="pos9" x="-0.0235656" y="0.258575"/>
        <Position id="pos10" x="-0.0818548" y="0.029494"/>
        <Position id="pos11" x="-0.0818548" y="0.029494"/>
        <Position id="pos12" x="0.101442" y="-0.201608"/>
        <Position id="pos13" x="-0.0818548" y="0.029494"/>
        <Position id="pos14" x="-0.0818548" y="0.029494"/>
        <Position id="pos15" x="-0.0818548" y="0.029494"/>
        <Position id="pos16" x="-0.259907" y="-0.265946"/>
        <Position id="pos17" x="-0.259907" y="-0.265946"/>
        <Position id="pos18" x="-0.273494" y="-0.131307"/>
        <Position id="pos19" x="0.101442" y="-0.201608"/>
        <Position id="pos20" x="0.303642" y="-0.17349"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="-0.131307"/>
        <Scalar id="scalar2" value="0"/>
        <Scalar id="scalar3" value="-0.265946"/>
        <Scalar id="scalar4" value="0"/>
        <Scalar id="scalar5" value="-0.201608"/>
        <Scalar id="scalar6" value="0"/>
        <Scalar id="scalar7" value="-0.17349"/>
        <Scalar id="scalar8" value="0"/>
        <Scalar id="scalar9" value="-0.00598795"/>
        <Scalar id="scalar10" value="-0.258429"/>
        <Scalar id="scalar11" value="0.640422"/>
        <Scalar id="scalar12" value="-0.258429"/>
        <Scalar id="scalar13" value="-0.00598795"/>
        <Scalar id="scalar14" value="0.258575"/>
        <Scalar id="scalar15" value="0"/>
        <Scalar id="scalar16" value="-1.81996"/>
        <Scalar id="scalar17" value="0.0866001"/>
        <Scalar id="scalar18" value="0.23638"/>
        <Scalar id="scalar19" value="0"/>
        <Scalar id="scalar20" value="0.00493932"/>
        <Scalar id="scalar21" value="2.24134"/>
        <Scalar id="scalar22" value="-0.045804"/>
        <Scalar id="scalar23" value="0.294968"/>
        <Scalar id="scalar24" value="0.029494"/>
        <Scalar id="scalar25" value="0"/>
        <Scalar id="scalar26" value="-2.11317"/>
        <Scalar id="scalar27" value="0.0853313"/>
        <Scalar id="scalar28" value="0.344945"/>
        <Scalar id="scalar29" value="1.67137"/>
        <Scalar id="scalar30" value="-0.285296"/>
        <Scalar id="scalar31" value="0.135323"/>
        <Scalar id="scalar32" value="0.138178"/>
        <Scalar id="scalar33" value="0.213659"/>
        <Scalar id="scalar34" value="0.204146"/>
      </Scalars>
      <Elements>
        <Bar fixed="true" id="sBar32">
          <Point fixed="true" id="sBar32.pt1" posRef="pos5"/>
          <Point fixed="true" id="sBar32.pt2" posRef="pos6"/>
          <Line fixed="true" id="sBar32.axis">
            <Param fixed="false" id="sBar32.axis.dir" scalarRef="scalar9"/>
            <Param fixed="false" id="sBar32.axis.offs" scalarRef="scalar10"/>
          </Line>
          <Param fixed="true" id="sBar32.length" scalarRef="scalar11"/>
        </Bar>
        <Bar fixed="false" id="sBar33">
          <Point fixed="false" id="sBar33.pt1" posRef="pos9"/>
          <Point fixed="false" id="sBar33.pt2" posRef="pos10"/>
          <Line fixed="false" id="sBar33.axis">
            <Param fixed="false" id="sBar33.axis.dir" scalarRef="scalar16"/>
            <Param fixed="false" id="sBar33.axis.offs" scalarRef="scalar17"/>
          </Line>
          <Param fixed="true" id="sBar33.length" scalarRef="scalar18"/>
        </Bar>
        <Bar fixed="false" id="sBar34">
          <Point fixed="false" id="sBar34.pt1" posRef="pos12"/>
          <Point fixed="false" id="sBar34.pt2" posRef="pos13"/>
          <Line fixed="false" id="sBar34.axis">
            <Param fixed="false" id="sBar34.axis.dir" scalarRef="scalar21"/>
            <Param fixed="false" id="sBar34.axis.offs" scalarRef="scalar22"/>
          </Line>
          <Param fixed="true" id="sBar34.length" scalarRef="scalar23"/>
        </Bar>
        <Bar fixed="false" id="sBar35">
          <Point fixed="false" id="sBar35.pt1" posRef="pos15"/>
          <Point fixed="false" id="sBar35.pt2" posRef="pos16"/>
          <Line fixed="false" id="sBar35.axis">
            <Param fixed="false" id="sBar35.axis.dir" scalarRef="scalar26"/>
            <Param fixed="false" id="sBar35.axis.offs" scalarRef="scalar27"/>
          </Line>
          <Param fixed="true" id="sBar35.length" scalarRef="scalar28"/>
        </Bar>
        <Bar fixed="false" id="sBar36">
          <Point fixed="false" id="sBar36.pt1" posRef="pos17"/>
          <Point fixed="false" id="sBar36.pt2" posRef="pos18"/>
          <Line fixed="false" id="sBar36.axis">
            <Param fixed="false" id="sBar36.axis.dir" scalarRef="scalar29"/>
            <Param fixed="false" id="sBar36.axis.offs" scalarRef="scalar30"/>
          </Line>
          <Param fixed="true" id="sBar36.length" scalarRef="scalar31"/>
        </Bar>
        <Bar fixed="false" id="sBar37">
          <Point fixed="false" id="sBar37.pt1" posRef="pos19"/>
          <Point fixed="false" id="sBar37.pt2" posRef="pos20"/>
          <Line fixed="false" id="sBar37.axis">
            <Param fixed="false" id="sBar37.axis.dir" scalarRef="scalar32"/>
            <Param fixed="false" id="sBar37.axis.offs" scalarRef="scalar33"/>
          </Line>
          <Param fixed="true" id="sBar37.length" scalarRef="scalar34"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="true" id="swj30">
          <Point fixed="true" id="swj30.pt" posRef="pos1"/>
          <Line fixed="false" id="swj30.line">
            <Param fixed="false" id="swj30.line.dir" scalarRef="scalar2"/>
            <Param fixed="false" id="swj30.line.offs" scalarRef="scalar1"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj31">
          <Point fixed="false" id="swj31.pt" posRef="pos2"/>
          <Line fixed="false" id="swj31.line">
            <Param fixed="false" id="swj31.line.dir" scalarRef="scalar4"/>
            <Param fixed="false" id="swj31.line.offs" scalarRef="scalar3"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj32">
          <Point fixed="false" id="swj32.pt" posRef="pos3"/>
          <Line fixed="false" id="swj32.line">
            <Param fixed="false" id="swj32.line.dir" scalarRef="scalar6"/>
            <Param fixed="false" id="swj32.line.offs" scalarRef="scalar5"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj33">
          <Point fixed="true" id="swj33.pt" posRef="pos4"/>
          <Line fixed="false" id="swj33.line">
            <Param fixed="false" id="swj33.line.dir" scalarRef="scalar8"/>
            <Param fixed="false" id="swj33.line.offs" scalarRef="scalar7"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj34">
          <Point fixed="false" id="swj34.pt" posRef="pos8"/>
          <Line fixed="false" id="swj34.line">
            <Param fixed="false" id="swj34.line.dir" scalarRef="scalar15"/>
            <Param fixed="false" id="swj34.line.offs" scalarRef="scalar14"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj35">
          <Point fixed="false" id="swj35.pt" posRef="pos14"/>
          <Line fixed="false" id="swj35.line">
            <Param fixed="false" id="swj35.line.dir" scalarRef="scalar25"/>
            <Param fixed="false" id="swj35.line.offs" scalarRef="scalar24"/>
          </Line>
        </SwivelJoint>
        <SlidingJoint fixed="false" id="slj4">
          <Point fixed="false" id="slj4.pt" posRef="pos7"/>
          <Line fixed="false" id="slj4.axis">
            <Param fixed="false" id="slj4.axis.dir" scalarRef="scalar13"/>
            <Param fixed="false" id="slj4.axis.offs" scalarRef="scalar12"/>
          </Line>
        </SlidingJoint>
        <RigidJoint fixed="false" id="rgj7">
          <Point fixed="false" id="rgj7.pt" posRef="pos11"/>
          <Line fixed="false" id="rgj7.axis">
            <Param fixed="false" id="rgj7.axis.dir" scalarRef="scalar20"/>
            <Param fixed="false" id="rgj7.axis.offs" scalarRef="scalar19"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj7.pt" elementPointRef="sBar34.pt2" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj7.pt" elementPointRef="sBar33.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="swj30.pt" elementPointRef="sBar36.pt2" id="pointcon3"/>
        <PointConnection couplingPointRef="swj31.pt" elementPointRef="sBar36.pt1" id="pointcon4"/>
        <PointConnection couplingPointRef="swj31.pt" elementPointRef="sBar35.pt2" id="pointcon5"/>
        <PointConnection couplingPointRef="swj32.pt" elementPointRef="sBar37.pt1" id="pointcon6"/>
        <PointConnection couplingPointRef="swj32.pt" elementPointRef="sBar34.pt1" id="pointcon7"/>
        <PointConnection couplingPointRef="swj33.pt" elementPointRef="sBar37.pt2" id="pointcon8"/>
        <PointConnection couplingPointRef="swj34.pt" elementPointRef="sBar33.pt1" id="pointcon9"/>
        <PointConnection couplingPointRef="swj35.pt" elementPointRef="sBar35.pt1" id="pointcon10"/>
        <LineConnection couplingLineRef="slj4.axis" elementLineRef="sBar32.axis" id="linecon13"/>
        <CouplingConnection coupling1Ref="swj34" coupling2Ref="slj4" id="couplingcon11" role="SlidingSwivelJoint"/>
        <CouplingConnection coupling1Ref="swj35" coupling2Ref="rgj7" id="couplingcon12" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
